Doodle Labs Antenna Setup

This is a first draft explaining the Doodle Labs antennas' setup for ASAP-MO. We have 3 antennas: 2 mini-OEM Dual-Band Mesh Rider Radio - 915 MHz and 2450 MHz (ISM bands) datasheet here and 1 Multiband Wearable Mesh Rider Radio – 915 MHz and 2450 MHz (ISM bands) datasheet here.

Connection Information

Wearable Antenna
MAC: 00-30-1A-3A-67-EA
IP: 10.223.103.234
Hardware: Sturdy Steve
Hardware IP: 10.223.50.200 / Subnet: 255.255.0.0

Clearbox Antenna
MAC: 00-30-1A-3A-4F-9A
IP: 10.223.79.154
Hardware: XXX
Hardware IP: 10.223.50.XXX / Subnet: 255.255.0.0

Beigebox Antenna
MAC: 00-30-1A-3A-10-C2
IP: 10.223.16.194
Hardware: Castor
Hardware IP: 10.223.50.4 / Subnet: 255.255.0.0

By typing the IP address of the antenna, you can connect to a Web Interface. There you can set the parameters of the antenna. In the status page, you can verify if the antennas are associated and create a mesh in Associated Devices.

Main Parameters

Active Frequency Band: 915Mhz
Channel: 12
Bandwidth: 10MHz
Operating Distance: 500m
Number of Devices: 3 to 5

Teleoperation

To teleoperate using Sturdy Steve, start the script in norlab_robot

./asapmo_remote_control.sh

Performances

If you want to evaluate the network performances (Incoming and Outgoing), download sudo apt install nload and run

nload

While visualizing the data on Castor, we tested multiple setup at close range:

NoMachine: average 4MB/s
Zenoh visualizing laserscan, disparity, robot model, camera preview 5FPS: average 0.5MB/s
Zenoh same setup but with 3D point cloud: average 11.5MB/s

We also tested with NoMachine on longer distance (mostly with line of sight), and we were able to get to around 150 meter before losing the connection.